New Experiences with the RoboNewbie Software Hans-Dieter Burkhard Humboldt University Berlin With Great Thanks to all participating student teams and their institutes! 1
Robotics is an integrative task Software: Perception, Motion, Control, Hardware: Sensors, Actuators, Processors, Energy, Biology, Medicine, Sports, Psychology, Philosophy, Sociology, Physics, Mathematics, Informatics, Materials, Design, Engineering, 2
Toolkits for Basic Experiments 3
Skills: Walk, StandUp, Kick, Catch Perception: Where are the ball, the goals, other players Where am I What are other players doing What should I do? Atacking, Defending, Supporting Go to ball, Kick the ball (to which direction?) How can do it? Walk forward/sideward/backward, Turn Kick, Catch, Push (foul) Testbed for more complex behaviour: RoboCup Soccer Robots 4
RoboCup 2016 in Leipzig/Germany First time with natural light. Video https://www.youtube.com/watch?v=amx3uzl10zu Think about code for better performance Think about testing Think about project management 5
Real robots require high efforts for materials, construction, maintenance Simulation as alternative with Behavior like real robots Simulated sensors, motors, controls like real robots 6
Real Robot in Real World Robot Sensors Control Actuators signals Environment actions 7
Simulated World: RoboCup SimSpark Control of Soccer robots Sensors Control ( Brain ) Actuators signals Robot actions Playground, ball, player bodies Referee (Soccer rules) 8
RoboNewbie Project: Support for Programming Simulated Soccer Robots Diploma Thesis by Monika Domanska at Humboldt University 2012 Framework based on Java and Netbeans. Hides non-robotics aspects (e.g. communication with Simspark). Basic motion skills (walk, standup, turn). Basic examples/exercises for experiments. 9
Download of all programs and materials from our website http://www.naoteamhumboldt.de/projects/robonewbie/ 10
Download and Installation are guided by documents Usually takes less than 1 hour rkhard Jahorina 2016 11
Motion design supported by Motion Editor Motion Control: 22 joints at every 20 msec 1100 commands per second 12
Motion Control: 22 joints at every 20 msec 1100 commands per second 13
RoboNewbie was used for exercises in different courses on Cognitive Robotics. Only simple requirements were supposed. Students: Programming skills with Java and Netbeans Some physical and mathematical background to understand the theoretical and practical issues of Robotics. Work in teams of 3-5 participants Technical Equipment: Labtops (preferable) or lab computers with Windows, Java, Netbeans, Java3D 14
Courses supported by DAAD (since 2013 by our program): 2012 Ohrid (DAAD INTENSIVE COURSE Robotics and Mathematics together with Nevena Ackovska) 2013 Novi Sad Rijeka Sarajevo 2014 Plovdiv Rijeka Further courses: Humboldt University Berlin 2015 Skopje Sarajevo Vistula University Warsaw 2016 Rijeka Planned: Tirana Anna-Seghers-Schule Berlin Plovdiv (knowledge transfer to teaching staff) 15
Typical Duration of a course were 30 hours with up to 30 participants. Lectures and exercises mixed. Topics of lectures: Motion (Kinematics, Motion Planning and Control, Drive Systems, Legged Robots, Learning, Biologically Inspired Motions) Sensors (Signals, Sensors Types, Vision/Camera Model, Interpretation) World Models (Representations, Probabilistic Methods) Behavior Control (Control Architectures, Rationality, Behavior Based Robotics) 16
Exercises: Introduction to SimSpark and RoboNewbie. First experiments with motion design (knee bend). Preparation for the final competition in groups of about 4 students. Exercises include homework common discussions about ideas for the competition Each participant prepares a written report on her/his efforts for the competition (ideas, implementations, results). Competition rules have been modified over the years. 17
2012 Ohrid 18
Start positions for up to 4 players (unknown before the competition) Time to score: 3 minutes 19
Start positions for up to 4 players (unknown before the competition) Actually, teams used only 1 player. Time to score: 3 minutes 20
Team Work in Ohrid 21
Competition in Ohrid 22
Best results in Ohrid 2012: 180cm before goal Champion Team 3: Zoltan Geler Novi Sad Ovidiu Parvu Cluj Milos Petkovic Nis Davorka Radakovic Novi Sad Award Ceremony 23
Competition rules unchanged until 2014 (3 minutes, up to 4 players, unknown positions) 2013: Novi Sad Rijeka Sarajevo 2014: Plovdiv 24
2013 Novi Sad Improvement: 80cm before goal Champion: Dragan Nedeljkov (no teams) 3 25
2013 Rijeka Firtst time: Scoring! Time: 57 sec. Champion: Team1 Marina Bajčić Kristina Prodanović Luka Unuk 26
2013 Sarajevo Again scoring after 57 sec! Champion: Team5 Jusić, Emir Tucaković, Zlatan Zubanović, Damir Merzić, Hamza 27
2014 Plovdiv 2 scores: 40 sec!, 102 sec Champion: Team 6 Damyan Damyanov Ivelin Rusev Petar Bilev Vasil Palagachev 28
Fast Scoring Problem solved. New kind of competitions: Matches between teams. Extension of RoboNewbie: Support for programming teams. Single program which can play different roles, e.g. Attacker Goalkeeper Skills for kicking and walking from former competitions (Rijeka, Plovdiv) provided 29
2014 Rijeka Matches 4 by 4, 2 times 5 minutes 30
Champion: Team TMS: Toni Butković Matko Abramović Kristian Skender. No goals, winner by penalties. 31
New rules: Games 1 by 1 Initial poses outside of colored areas in the own half: Blue team (left) acts as offender, Red team (right) acts as defender (e.g. with a goal keeper) Matches 2 x 2 minutes With preliminaries in 2 groups, half finales and finales. Fast scoring challenge in case of draw. 32
Skopje 2015, 6 teams Champion: Team Bomba Spasovska, Beti Velkoska, Natalija Dembovski, Aleksandar Jovanovski, Stole 33
Skopje 2015, 6 teams 34
Next Rules: Games 2 by 2 Offending team (left team with kick-off): Both players outside of blue area (Distance to ball >=1m ) Defending team (right team) Player 1: outside of read area (Goalkeeper) Player 2: outside of red and yellow areas Matches 2 x 2 minutes. With preliminaries in 2 groups, half finales and finales. Fast scoring challenge in case of draw.
Sarajevo 2015, 5 teams Schedule: Tuesday, Nov. 3rd: Start of course Wednesday, Nov. 4th: Constitution of Groups Friday Saturday Sunday Monday Tuesday, Wednesday Thursday, Nov. 10th: Fast scoring challenge Nov. 12th: Competition ranking of teams test of competition computer 36
Sarajevo 2015, 5 teams Finales: 1:1 Fast Scoring Challenge: 2 m : 1.8 m Champion: Bombo Team Sumejja Porča Luka Pejović 37
Rijeka 2016 38
Rijeka 2016 5 teams Again with preliminaries 39
Rijeka 2016 5 teams and finales 40
Rijeka 2016 5 teams Successful goalkeeper! Champion: Hertha Berlin Jan Božić Edvin Močibob Matej Šamanić Tomislav Šubić 41
Opinions of students: Wanted to have more time for exercises. Future: May be better skills for motions (walking). -> Would change the efforts to cooperative play. 42
Thank you! You are invited to the next RoboCup Competition: 43
Additional Videos: Best Goals of RoboCup 2016 https://www.youtube.com/watch?v=bd-upolmoxw 44